Hierarchical trajectory refinement for a class of nonlinear systems

Authors:
Paulo Tabuada;George J. Pappas
Affiliations:
Department of Electrical Engineering, University of Notre Dame, 268 Fitzpatrick Hall, Notre Dame, IN 46556, USA;Department of Electrical and Systems Engineering, University of Pennsylvania, 200 South 33rd Street, Philadelphia, PA 19104, USA
Venue:
Automatica (Journal of IFAC)
Year:
2005

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Corrigendum: Corrigendum to "Hierarchical trajectory refinement for a class of nonlinear systems" [Automatica 41(4) (2005) 701-708]

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Abstract

Trajectory generation for nonlinear control systems is an important and difficult problem. In this paper, we provide a constructive method for hierarchical trajectory refinement. The approach is based on the recent notion of @f-related control systems. Given a control affine system satisfying certain assumptions, we construct a @f-related control system of smaller dimension. Trajectories designed for the smaller, abstracted system are guaranteed, by construction, to be feasible for the original system. Constructive procedures are provided for refining trajectories from the coarser to the more detailed system.